Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator
In order to improve the motion performance of compliant robots, a rotary series elastic actuator (SEA) based on arc helical springs is designed. The proposed SEA can be used to provide a wide range of flexible torsion by the combination of multi-stage rotary structures. The inner and outer double la...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2023-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.05.008 |
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| _version_ | 1841547006985633792 |
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| author | Wang Caidong Wang Yichen Zhu Jianxin Hu Yakai Liu Xiaoli Dong Xiangsheng Wang Xinjie |
| author_facet | Wang Caidong Wang Yichen Zhu Jianxin Hu Yakai Liu Xiaoli Dong Xiangsheng Wang Xinjie |
| author_sort | Wang Caidong |
| collection | DOAJ |
| description | In order to improve the motion performance of compliant robots, a rotary series elastic actuator (SEA) based on arc helical springs is designed. The proposed SEA can be used to provide a wide range of flexible torsion by the combination of multi-stage rotary structures. The inner and outer double layers of springs with different stiffness are connected in series. The dynamic model of the flexible joint with the proposed SEA is established. The control law for the flexible joint is derived by the backstepping algorithm. To validate the effectiveness of the proposed SEA and the control law, the dynamic performance of the flexible joint with interference torques is simulated by Matlab and Adams. The results show that the controller can overcome the interference force and restore the balance state of the flexible joint within 0.59 s，which verifies the effectiveness of the designed elastic actuator structure and control law. |
| format | Article |
| id | doaj-art-13c7fa6c40564566a4593f170a9bbbc8 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-13c7fa6c40564566a4593f170a9bbbc82025-01-10T14:58:00ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-05-0147455038199458Design and Dynamics Performance Simulation Analysis of a New Series Elastic ActuatorWang CaidongWang YichenZhu JianxinHu YakaiLiu XiaoliDong XiangshengWang XinjieIn order to improve the motion performance of compliant robots, a rotary series elastic actuator (SEA) based on arc helical springs is designed. The proposed SEA can be used to provide a wide range of flexible torsion by the combination of multi-stage rotary structures. The inner and outer double layers of springs with different stiffness are connected in series. The dynamic model of the flexible joint with the proposed SEA is established. The control law for the flexible joint is derived by the backstepping algorithm. To validate the effectiveness of the proposed SEA and the control law, the dynamic performance of the flexible joint with interference torques is simulated by Matlab and Adams. The results show that the controller can overcome the interference force and restore the balance state of the flexible joint within 0.59 s，which verifies the effectiveness of the designed elastic actuator structure and control law.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.05.008Compliant robotSeries elastic actuatorDynamics performanceBackstepping control |
| spellingShingle | Wang Caidong Wang Yichen Zhu Jianxin Hu Yakai Liu Xiaoli Dong Xiangsheng Wang Xinjie Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator Jixie chuandong Compliant robot Series elastic actuator Dynamics performance Backstepping control |
| title | Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator |
| title_full | Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator |
| title_fullStr | Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator |
| title_full_unstemmed | Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator |
| title_short | Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator |
| title_sort | design and dynamics performance simulation analysis of a new series elastic actuator |
| topic | Compliant robot Series elastic actuator Dynamics performance Backstepping control |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.05.008 |
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